Robot targeting using transit time control

Details Robot targeting using transit time control Robot targeting using transit time control

1989-11-14

1993-09-07

Fleming, Michael R.

Robots

Counterbalance

395904, 901 7, 901 20, G06F 1520, G06F 1546

Patent

active

052436900

ABSTRACT:
A robot is controlled to move from a predetermined rest point to contact a moving target. The control parameters of the robot are not known. Control is effectuated by predetermining the time required for the robot to move from a rest position to each of a plurality of points within the region in which the target is expected to be found. When the target is identified, its location near the predetermined points at a future time is computed. The known time required from motion of the robot from the rest position to predetermined points adjacent the future location of the target is determined by reference to stored information. The exact time required for the motion may be interpolated between the predetermined points. The time for robot motion is subtracted from the future time to determine the time at which robot motion begins. In a particular embodiment of the invention, a robot coacts with a circular conveyor belt to retrieve objects from the conveyor and transport them to a dump point.

REFERENCES:
patent: 4338672 (1982-07-01), Perzley et al.
patent: 4612487 (1986-09-01), Shimomura
patent: 4685054 (1987-08-01), Manninen et al.
patent: 4692876 (1987-09-01), Tenma et al.
patent: 4698777 (1987-10-01), Toyoda et al.
patent: 4706204 (1987-11-01), Hattori
patent: 4754392 (1988-06-01), Nakashima et al.
patent: 4794513 (1988-12-01), Muller
patent: 4821207 (1989-04-01), Ming et al.
patent: 4835710 (1989-05-01), Schnelle et al.

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